dwLidarNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SENSORS_DWLIDARNODE_DWLIDARNODE_HPP_
#define DWFRAMEWORK_DWNODES_SENSORS_DWLIDARNODE_DWLIDARNODE_HPP_
 
#include <dw/sensors/Sensors.h>
#include <dw/sensors/lidar/Lidar.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/Lidar.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/Sensors.hpp>
 
namespace dw
{
namespace framework
{
 
class dwLidarNode : public ExceptionSafeSensorNode
{
public:
    static constexpr char LOG_TAG[] = "dwLidarNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv),
            DW_DESCRIBE_PORT(dwLidarDecodedPacket, "PROCESSED_DATA"_sv),
            DW_DESCRIBE_PORT(dwSensorNodeRawData, "RAW_DATA"_sv),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_TIMESTAMP"_sv));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("RAW_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESSED_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<const char*, dwRigHandle_t, dwSALHandle_t, dwContextHandle_t, FixedString<32>>(
            describeConstructorArgument(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::LidarName,
                    "sensorId"_sv)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER(
                    dw::core::FixedString<32>,
                    "frameSkipMask"_sv)));
    }
 
    static std::unique_ptr<dwLidarNode> create(ParameterProvider& provider);
 
    dwSensorType getSensorType() const
    {
        return DW_SENSOR_LIDAR;
    }
 
    dwLidarNode(const char* sensorName, dwConstRigHandle_t rigHandle,
                dwSALHandle_t sal, dwContextHandle_t ctx, const FixedString<32>& frameSkipMask);
    dwLidarNode(const dwSensorParams& params,
                dwSALHandle_t sal, dwContextHandle_t ctx);
};
}
}
#endif // DWFRAMEWORK_DWNODES_SENSORS_DWLIDARNODE_DWLIDARNODE_HPP_